Scilab Function
Last update : 12/1/2004

augment - augmented plant

### Calling Sequence

  `[P,r]=augment(G)`
  `[P,r]=augment(G,flag1)`
  `[P,r]=augment(G,flag1,flag2)`

### Parameters

- `G`: linear system (`syslin` list), the nominal plant
- `flag1`: one of the following (upper case) character string: `'S'` , `'R'` , `'T'` `'SR'` , `'ST'` , `'RT'` `'SRT'`
- `flag2`: one of the following character string: `'o'` (stands for 'output', this is the default value) or `'i'` (stands for 'input').
- `P`: linear system (`syslin` list), the ``augmented'' plant
- `r`: 1x2 row vector, dimension of `P22 = G`

### Description

If `flag1='SRT'` (default value), returns the "full" augmented plant

        [ I | -G]   -->'S'
        [ 0 |  I]   -->'R'
    P = [ 0 |  G]   -->'T'
        [-------]
        [ I | -G]

`'S'` , `'R'` , `'T'` refer to the first three (block) rows of `P` respectively.

If one of these letters is absent in `flag1`, the corresponding row in `P` is missing.

If `G` is given in state-space form, the returned `P` is minimal. `P` is calculated by: `[I,0,0;0,I,0;-I,0,I;I,0,0]*[I,-G;0,I;I,0]`.

The augmented plant associated with input sensitivity functions, namely

        [ I | -I]   -->'S'  (input sensitivity)
        [ G | -G]   -->'R'  (G*input sensitivity)
    P = [ 0 |  I]   -->'T'  (K*G*input sensitivity)
        [-------]
        [ G | -G]

is obtained by the command `[P,r]=augment(G,flag,'i')`. For state-space `G`, this `P` is calculated by: `[I,-I;0,0;0,I;0,0]+[0;I;0;I]*G*[I,-I]` and is thus generically minimal.

Note that weighting functions can be introduced by left-multiplying `P` by a diagonal system of appropriate dimension, e.g., `P = sysdiag(W1,W2,W3,eye(G))*P`.

Sensitivity functions can be calculated by `lft`. One has:

For output sensitivity functions [P,r]=augment(P,'SRT'): lft(P,r,K)=[inv(eye()+G*K);K*inv(eye()+G*K);G*K*inv(eye()+G*K)];

For input sensitivity functions [P,r]=augment(P,'SRT','i'): lft(P,r,K)=[inv(eye()+K*G);G*inv(eye()+K*G);K*G*inv(eye()+G*K)];

### Examples

    G=ssrand(2,3,2); //Plant
    K=ssrand(3,2,2); //Compensator
    [P,r]=augment(G,'T');
    T=lft(P,r,K);   //Complementary sensitivity function
    Ktf=ss2tf(K);Gtf=ss2tf(G);
    Ttf=ss2tf(T);T11=Ttf(1,1);
    Oloop=Gtf*Ktf;
    Tn=Oloop*inv(eye(Oloop)+Oloop);
    clean(T11-Tn(1,1));
    //
    [Pi,r]=augment(G,'T','i');
    T1=lft(Pi,r,K);T1tf=ss2tf(T1); //Input Complementary sensitivity function
    Oloop=Ktf*Gtf;
    T1n=Oloop*inv(eye(Oloop)+Oloop);
    clean(T1tf(1,1)-T1n(1,1))

### See Also

`lft`, `sensi`,